Merge #237

237: Adding support for Booster v1.6 channels r=jordens a=ryan-summers

This PR fixes #233 by adding an additional ON/OFF toggle during the channel initial power-up.

~~It's not currently known if this is sufficient to clear the interlocks in all cases because of the unknown states of the power detectors during the power-up process. If the power detectors create transient voltage outputs that exceed the interlock thresholds, the channels will power up in a tripped state.~~

~~However, the most likely case is that the power detectors will remain low during the power-on process and the interlock will not trip, so there's relatively high confidence that this should address v1.6 concerns.~~

It was discovered that the power detectors did not stay low during initialization, but this was remedied by resetting the interlocks immediately after the channel powered up.

Co-authored-by: Ryan Summers <[email protected]>
Co-authored-by: Robert Jördens <[email protected]>

CHANGELOG.md

@@ -13,7 +13,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 * Support for static IP + netmask and gateway configuration
     * NOTE: Boosters that used firmware from before 0.4.0 will return to old network configurations.
     To re-enable DHCP, reconfigure the IP address to 0.0.0.0/0
-* v1.6 hardware identification is now supported
+* Support added for Booster v1.6 hardware
 
 ### Changed
 * Removed custom `mutex` implementation in favor of leveraging `shared-bus`

hitl/basic.py

@@ -92,7 +92,7 @@ async def is_enabled() -> bool:
         # Lower the interlock threshold so it trips.
         print('Setting output interlock threshold to -5 dB, verifying interlock trips')
         await booster.settings_interface.command(f'channel/{channel}/output_interlock_threshold',
-                                                 -5, retain=False)
+                                                 -5.7, retain=False)
 
         async def is_tripped() -> bool:
             _, tlm = await telemetry.get_next_telemetry()

src/hardware/booster_channels.rs

@@ -4,8 +4,7 @@ use stm32f4xx_hal as hal;
 use tca9548::{self, Tca9548};
 
 use super::rf_channel::{ChannelPins as RfChannelPins, RfChannel, RfChannelMachine};
-use super::{Channel, I2cBusManager, I2cProxy, SystemTimer};
-use hal::hal::blocking::delay::DelayUs;
+use super::{delay::AsmDelay, Channel, I2cBusManager, I2cProxy, SystemTimer};
 
 /// Represents a control structure for interfacing to booster RF channels.
 pub struct BoosterChannels {
@@ -50,7 +49,7 @@ impl BoosterChannels {
         manager: &'static I2cBusManager,
         pins: [RfChannelPins; 8],
         clock: SystemTimer,
-        delay: &mut impl DelayUs<u16>,
+        delay: AsmDelay,
     ) -> Self {
         let mut channels: [Option<RfChannelMachine>; 8] =
             [None, None, None, None, None, None, None, None];
@@ -60,7 +59,7 @@ impl BoosterChannels {
             mux.select_bus(Some(idx.into()))
                 .expect("Failed to select channel");
 
-            if let Some(channel) = RfChannel::new(manager, pins, clock, delay) {
+            if let Some(channel) = RfChannel::new(manager, pins, clock, delay.clone()) {
                 let mut machine = RfChannelMachine::new(channel);
                 machine.handle_startup();
                 channels[idx as usize].replace(machine);

src/hardware/delay.rs

@@ -1,5 +1,6 @@
 use stm32f4xx_hal::hal::blocking::delay::{DelayMs, DelayUs};
 
+#[derive(Clone)]
 pub struct AsmDelay {
     frequency_us: u32,
     frequency_ms: u32,

src/hardware/rf_channel.rs

@@ -8,7 +8,7 @@ use mcp3221::Mcp3221;
 use microchip_24aa02e48::Microchip24AA02E48;
 use minimq::embedded_time::{duration::Extensions, Clock, Instant};
 
-use super::{platform, I2cBusManager, I2cProxy, SystemTimer};
+use super::{delay::AsmDelay, platform, I2cBusManager, I2cProxy, SystemTimer};
 use crate::{
     settings::{
         channel_settings::ChannelSettings, channel_settings::ChannelState, BoosterChannelSettings,
@@ -19,7 +19,7 @@ use stm32f4xx_hal::{
     self as hal,
     adc::config::SampleTime,
     gpio::{Analog, Input, Output},
-    hal::blocking::delay::DelayUs,
+    hal::blocking::delay::DelayMs,
 };
 
 /// A structure representing power supply measurements of a channel.
@@ -152,7 +152,7 @@ impl Devices {
     /// properly enumerate, the option will be empty. The returend tuple will be (devices, eeprom).
     fn new(
         manager: &'static I2cBusManager,
-        delay: &mut impl DelayUs<u16>,
+        delay: &mut AsmDelay,
     ) -> Option<(Self, Microchip24AA02E48<I2cProxy>)> {
         // The ADS7924 and DAC7571 are present on the booster mainboard, so instantiation
         // and communication should never fail.
@@ -276,6 +276,7 @@ pub struct RfChannel {
     pins: ChannelPins,
     settings: BoosterChannelSettings,
     clock: SystemTimer,
+    delay: AsmDelay,
 }
 
 impl RfChannel {
@@ -295,15 +296,16 @@ impl RfChannel {
         manager: &'static I2cBusManager,
         pins: ChannelPins,
         clock: SystemTimer,
-        delay: &mut impl DelayUs<u16>,
+        mut delay: AsmDelay,
     ) -> Option<Self> {
         // Attempt to instantiate the I2C devices on the channel.
-        Devices::new(manager, delay).map(|(devices, eeprom)| {
+        Devices::new(manager, &mut delay).map(|(devices, eeprom)| {
             let mut channel = Self {
                 devices,
                 pins,
                 settings: BoosterChannelSettings::new(eeprom),
                 clock,
+                delay,
             };
 
             channel.apply_output_interlock_threshold().unwrap();
@@ -621,7 +623,7 @@ mod sm {
             Off + Disable = Off,
             Off + Fault(ChannelFault) / handle_fault = Blocked(ChannelFault),
 
-            Powerup(Instant<SystemTimer>) + Update [check_timeout] = Powered,
+            Powerup(Instant<SystemTimer>) + Update [check_timeout] / reset_interlocks = Powered,
             Powerup(Instant<SystemTimer>) + Disable / start_disable_instant = Powerdown(Instant<SystemTimer>),
             Powerup(Instant<SystemTimer>) + Fault(ChannelFault) / handle_fault_instant = Blocked(ChannelFault),
 
@@ -671,9 +673,6 @@ impl sm::StateMachineContext for RfChannel {
             .set_voltage(3.2)
             .expect("Failed to disable RF bias voltage");
 
-        // Ensure that the RF output is disabled during the power-up process.
-        self.disable_rf_switch();
-
         // Start the LM3880 power supply sequencer.
         self.pins.enable_power.set_high();
 
@@ -682,6 +681,20 @@ impl sm::StateMachineContext for RfChannel {
         self.clock.try_now().unwrap() + 200_u32.milliseconds()
     }
 
+    fn reset_interlocks(&mut self, _: &Instant<SystemTimer>) {
+        // Next, handle resetting interlocks for v1.6 hardware. The interlocks are reset by a
+        // falling edge on ON/OFF. Because the bias dac is currently in pinch-off (and the RF
+        // channel is unpowered), toggling ON/OFF introduces no output transients on the RF
+        // connectors.
+        self.pins.signal_on.set_high();
+
+        // Note: The delay here are purely to accomodate potential capacitance on the ON/OFF
+        // rail.
+        self.delay.delay_ms(1u32);
+
+        self.pins.signal_on.set_low();
+    }
+
     /// Guard against powering up the channel.
     ///
     /// # Returns

src/hardware/setup.rs

@@ -227,7 +227,7 @@ pub fn setup(
 
         let adc = hal::adc::Adc::adc3(device.ADC3, true, config);
 
-        BoosterChannels::new(mux, adc, i2c_bus_manager, pins, clock, &mut delay)
+        BoosterChannels::new(mux, adc, i2c_bus_manager, pins, clock, delay.clone())
     };
 
     let buttons = {